CN109649095B

CN109649095B - Bionic crocodile amphibious robot

Info

Publication number: CN109649095B
Application number: CN201811543367.2A
Authority: CN
Inventors: 陈俐; 张柳莎; 曾维亮; 任宁; 程小宣
Original assignee: Shanghai Jiaotong University
Current assignee: Shanghai Jiaotong University
Priority date: 2018-12-17
Filing date: 2018-12-17
Publication date: 2021-10-01
Anticipated expiration: 2038-12-17
Also published as: CN109649095A

Abstract

The invention relates to a bionic crocodile amphibious robot which comprises a trunk, a head arranged at the front end of the trunk, four limbs symmetrically arranged on two sides of the trunk in pairs and a tail arranged at the rear end of the trunk, wherein the four limbs are four wheel structures capable of realizing the shape change of wheels, legs and paddles, the wheel structures comprise an inner side spoke, an outer side spoke and six arc blades, the centers of the inner side spoke and the outer side spoke are movably arranged on the same connecting shaft, every two arc blades are in a group, two free ends of each group of arc blades are respectively hinged to the end parts of the inner side spoke and the outer side spoke, the inner side spoke and the outer side spoke are respectively positioned on different planes, the six arc blades are positioned on the same plane, each group of arc blades are connected through a connection structure capable of being opened and closed, and a grab hand can be formed after the connection structure is opened. Compared with the prior art, the invention can realize diversified and complex function conversion of grabbing, swimming and leg shape changing in a complex amphibious environment.

Description

Bionic crocodile amphibious robot

Technical Field

The invention relates to the technical field of robots, in particular to a bionic crocodile amphibious robot.

Background

The amphibious robot can work in an amphibious environment, has strong environmental adaptability, and can execute capabilities of complex and various tasks such as similar detection and search. The focus of research on this type of robot has been on developing amphibious propulsion means.

When a large amphibious device is designed at home and abroad at present, the design of the propulsion device mainly comprises the simple composition of a propulsion structure, namely the simple overlapping installation of two devices of land travelling and water travelling. The research on amphibious snake-shaped robot and its land and underwater gaits (published in journal 5 of 2012, the journal of mechanical engineering), which introduces explorer iii of bionic amphibious snake-shaped robot invented by academy of sciences in china, realizes the composition of pitching and yawing motions by changing the rotation direction and rotation speed of two motors, thereby realizing three-dimensional gaits. Patent CN104773042A discloses an amphibious robot with a deformable structure, which has a six-legged structure and realizes amphibious traveling by changing the angle changes of a longitudinal and transverse swinging steering engine and a U-shaped frame. However, due to the defects of overlarge volume, excessive structural elements (such as motors, circuits and the like), time-consuming switching and the like, the design of the amphibious robot cannot be directly applied to a small-sized amphibious robot. Therefore, innovations are still needed in the design of propulsion devices for small amphibious robots.

In published documents, people such as Wangtianmian, Zhongliang and Menggang use crocodiles as bionic objects to design and optimize the amphibious robot, a waist flexible driven joint A of the bionic crocodile amphibious robot model is a main driving joint of the whole model, and the motion of legs is simplified into only leg lifting motion. When in crawling, the robot twists the body in a reciprocating way and controls the landing and suspension of the corresponding feet to realize the forward movement; when the swimming device moves, the fluid enveloped by the swimming device is driven by the vertebral curve to be sprayed backwards to generate thrust. The robot can realize the composition of a propulsion mechanism in an amphibious environment, but the robot has a single advancing mode and cannot flexibly cope with the complexity and variability of the environment.

In addition, for the propulsion device of the amphibious robot, patent CN 102303492a uses spokes on the inner and outer sides, and under the structure of four groups of switching devices and four variable paddles, the change of different motion forms of the wheel, the leg and the paddle is realized by changing different included angles of the spokes on the inner and outer sides. Through a series of angle changes for the advancing device can adapt to multiple complicated amphibious environment, can freely switch over the mode of advancing when facing different environment, however this patent still exists advancing device singleness, can't snatch etc. not enough.

Disclosure of Invention

The invention aims to solve the problems and provide a bionic crocodile amphibious robot which can switch the traveling mode and grab a target in various complex amphibious environments such as flat or rugged ground, mudflat, underwater and the like.

The purpose of the invention is realized by the following technical scheme:

the utility model provides a bionical crocodile amphibious robot, include the truck, set up in head, two bisymmetry of truck front end set up in the four limbs of truck both sides and set up in the afterbody of truck rear end, four limbs are four wheel structures that can realize wheel, leg and oar shape change, wherein, wheel structure includes an inboard spoke, an outside spoke and six circular arc blades, inboard spoke and the central movable mounting of outside spoke are on same root connecting axle, and per two circular arc blades are a set of, and two free ends of every group circular arc blade articulate respectively in inboard spoke and outside spoke tip, inboard spoke and outside spoke are located different planes respectively, and six circular arc blades are located same plane, connect through the connection structure that can open and shut between every group circular arc blade, and the back is opened to the connection structure, can form the tongs.

Further, the connecting structure is composed of two semi-cylindrical electromagnets, the semi-cylindrical electromagnets are respectively connected to the end portions of the arc blades, and connection and disconnection are achieved under the condition that electricity is switched on and off by utilizing electromagnetic properties.

Furthermore, the semi-cylindrical electromagnet is connected with the end part of the circular arc blade through a stretchable connecting belt, one end of the connecting belt is fixedly connected with the end part of the circular arc blade, and the other end of the connecting belt is adhered to the semi-cylindrical electromagnet.

Furthermore, a lead is arranged inside the arc blade, and the semi-cylindrical electromagnet is connected with an external power supply through the lead.

Further, the wheel structure is mounted on the trunk of the robot through a connecting rod capable of rotating, so that the wheel structure can rotate in all directions, and the wheel structure is not only in a lying type.

Further, the connecting rod is an electrically controlled ball head connecting rod. The robot is externally provided with an external environment sensing system (for identifying the terrains of flat ground, mountain land, mud flat and water body), signals are transmitted to a master control console arranged inside the body of the robot through the sensing system, and the control console converts the signals and then controls the all-directional steering of the connecting rod through the electric wire inside the spherical device.

Further, the trunk carries out the main drive through setting up in the flexible driven joint of waist inside the trunk, the afterbody drives through setting up in the inboard afterbody joint of afterbody.

Furthermore, the head is provided with a hand grip which can be opened and closed up and down, so that the functions of grabbing objects and carrying are realized.

Further, two free ends of the arc-shaped blades are hinged to the ends of the inner spoke and the outer spoke through pins.

Further, the robot is provided with a laser radar, an infrared ranging sensor and a vision sensor.

According to the crocodile amphibious robot, the space of each part of the crocodile amphibious robot is fully utilized, the head of the crocodile and the wheel blade can be converted into the gripper, and a good gripping effect is achieved; the angle of the leg part is changed by changing the shape of the machine leg and the connecting rod which can rotate, so that the robot is suitable for various terrains such as plains, sloping fields, mudflats and the like, and particularly has advantages in climbing and traveling on rugged ground.

Compared with the existing amphibious robot model, the amphibious robot model has the following advantages:

(1) the function of simultaneously advancing and grabbing and capturing in a complex land and water environment can be realized.

(2) The working environment is various, the hiding effect is good, once the working environment is detected, the feet can be changed into the lying wheels, and the walking mode of the crocodile is simulated to shield the crocodile.

(3) By using the composite amphibious propulsion structure, the robot can swim in an underwater environment by adopting a tail fluctuation propulsion method and can also convert feet into paddles, so that the swimming mode is flexible.

(4) The multifunctional device is suitable for a larger space, and the proportion of the function to the space is proper. The robot has enough space, and can bear diversified and complex functions of grabbing, moving and leg shape changing.

Drawings

FIG. 1 is a schematic overall structure diagram of a bionic crocodile amphibious machine provided by the invention;

FIG. 2 is a schematic structural diagram of wheels of the bionic crocodile amphibious robot;

FIG. 3 is a partially enlarged schematic view of FIG. 2;

FIG. 4 is a schematic structural view of a connecting rod of the present invention;

FIGS. 5 and 6 are schematic structural views of the connecting rod of the present invention in different states;

FIGS. 7, 8 and 9 are schematic views of a wheel structure as a wheel, a leg and a paddle, respectively;

in the figure: trunk 1, head 2, tail 3, wheel structure 4, connecting rod 5, semi-cylindrical electromagnet 6, connecting band 7, outside spoke 41, inside spoke 42, circular arc blade 43.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments.

Examples

The utility model provides a bionical crocodile amphibious robot, as figure 1, including truck 1, set up in head 2, two bisymmetries of truck 1 front end set up in the four limbs of truck 1 both sides and set up in afterbody 3 of truck 1 rear end, truck 1 carries out the main drive through setting up in the flexible driven joint of waist in truck 1 inside, and afterbody 3 drives through setting up in 3 inboard afterbody joints of afterbody, and head 2 is equipped with the tongs that opens and shuts from top to bottom. Four limbs are four wheel structures 4 which can realize the shape change of wheels, legs and paddles.

As shown in fig. 2 and 3, the wheel structure 4 includes an inner spoke 42, an outer spoke 41 and six circular arc blades 43, the centers of the inner spoke 42 and the outer spoke 41 are movably mounted on the same connecting shaft, each two circular arc blades 43 are a group, two free ends of each group of circular arc blades 43 are respectively hinged to the ends of the inner spoke 42 and the outer spoke 41 through pins, the inner spoke 42 and the outer spoke 41 are respectively located on different planes, the six circular arc blades 43 are located on the same plane, and each group of circular arc blades 43 are connected through a connection structure capable of being opened and closed. The connection structure is composed of two semi-cylindrical electromagnets 6, and the semi-cylindrical electromagnets 6 are respectively connected to the ends of the arc-shaped blades 43. The semi-cylindrical electromagnet 6 is connected with the end part of the arc blade 43 through a stretchable connecting belt 7, one end of the connecting belt 7 is fixedly connected with the end part of the arc blade 43, and the other end of the connecting belt is adhered to the semi-cylindrical electromagnet 6. The arc blade 43 is internally provided with a lead, and the semi-cylindrical electromagnet 6 is connected with an external power supply through the lead. As shown in fig. 4-6, the wheel structure 4 is mounted on the trunk 1 of the robot by means of a rotatable connecting rod 5. The connecting rod 5 is an electrically controlled ball head connecting rod, such as a ball head universal joint of Nanjing Naste electromechanical device Limited company.

As shown in fig. 7, 8 and 9, on a flat ground, the inner spoke and the outer spoke are in a superposed posture on the side surface, so that the variable paddle is wheel-shaped; when the variable paddle is submerged on a rugged ground, an offshore mud flat or a water bottom, the inner side spoke and the outer side spoke form an included angle of 60 degrees on the side surface, so that the variable paddle is in a triangular leg shape; when the variable paddle floats on the water surface, the inner side spoke and the outer side spoke form an included angle of 95 degrees on the side surface, so that the variable paddle is in a paddle shape.

According to the invention, the four limbs can be converted into the hand grips through the connecting structure of the two semi-cylindrical magnets, the electromagnets are arranged on the arc blades, namely the semi-cylindrical electromagnets and the arc blades are connected through the conducting wires, the two semi-cylindrical magnets are separated after demagnetization is carried out, and the two connected arc blades are opened and closed up and down (along the radius direction) to form the hand grips. The two semi-cylindrical magnets are arranged between the two arc blades through eight telescopic, stretchable or contractible belts which are arranged up and down. The connecting structure is in mutual contact with the arc blade, but is relatively unfixed, and the two semi-cylindrical magnets are respectively adhered and fixed with the tail ends of the four belts (far away from the arc blade). When the foot of the robot is changed from a wheel shape to a leg shape or a paddle shape, the four belts close to the wheel center contract, and the four belts far away from the wheel center extend to ensure the change of the foot shape.

A rotatable spherical device is additionally arranged on a straight rod connecting the foot wheel with the robot main body, so that the wheel can rotate almost in all directions. After the environment monitor on the connecting rod sends a signal to the robot control center, the control center outputs a control current to the circuit inside the electric connecting rod to drive the connecting rod to rotate, so that the robot can climb and advance in rugged and rugged mountain regions and other terrain environments, and the object grabbing is more accurate.

The robot is amphibious, can run in various environmental terrains under the transformation of the wheels, and also has certain auxiliary functions. The underwater laser radar ranging and autonomous navigation functions can be realized during underwater movement, and meanwhile, an underwater camera can acquire and recognize images, so that autonomous grabbing is realized, and a greater possibility is provided for underwater rescue and exploration; when the robot works on land, the robot can also realize infrared detection and component acquisition and analysis.

The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims

1. A bionic crocodile amphibious robot comprises a trunk (1), a head (2) arranged at the front end of the trunk (1), four limbs arranged on two sides of the trunk (1) in a pairwise symmetry manner, and a tail (3) arranged at the rear end of the trunk (1), wherein the four limbs are four wheel structures (4) capable of realizing the shape change of wheels, legs and paddles, each wheel structure (4) comprises an inner side spoke (42), an outer side spoke (41) and six circular arc blades (43), the centers of the inner side spoke (42) and the outer side spoke (41) are movably arranged on the same connecting shaft, every two circular arc blades (43) are in one group, two free ends of each group of circular arc blades (43) are respectively hinged to the ends of the inner side spoke (42) and the outer side spoke (41), the inner side spoke (42) and the outer side spoke (41) are respectively located on different planes, the six arc blades (43) are positioned on the same plane, and the six arc blades are characterized in that two arc blades (43) in each group of arc blades are connected through a connection structure capable of being opened and closed;

the connecting structure consists of two semi-cylindrical electromagnets (6), and the semi-cylindrical electromagnets (6) are respectively connected to the end parts of the arc blades (43);

the semi-cylindrical electromagnet (6) is connected with the end part of the arc blade (43) through a stretchable connecting belt (7), one end of the connecting belt (7) is fixedly connected with the end part of the arc blade (43), and the other end of the connecting belt is adhered to the semi-cylindrical electromagnet (6).

2. The bionic crocodile amphibious robot according to claim 1, wherein a lead is arranged inside the arc-shaped blade (43), and the semi-cylindrical electromagnet (6) is connected with an external power supply through the lead.

3. A biomimetic crocodile amphibious robot according to claim 1, characterized in that said wheel structure (4) is mounted on the trunk (1) of the robot by means of a rotatable connecting rod (5).

4. A biomimetic crocodile amphibious robot according to claim 3, characterized in that said connecting rod (5) is an electrically controlled ball-head connecting rod (5).

5. A bionic crocodile amphibious robot according to claim 1, characterized in that the trunk (1) is mainly driven by a waist flexible driven joint arranged inside the trunk (1), and the tail (3) is driven by a tail (3) joint arranged inside the tail (3).

6. A bionic crocodile amphibious robot according to claim 1, characterized in that the head (2) is provided with a gripper which can be opened and closed up and down.

7. A biomimetic crocodile amphibious robot according to claim 1, characterized in that two free ends of said circular arc blades (43) are hinged to ends of inner spokes (42) and outer spokes (41) by pins.

8. A bionic crocodile amphibious robot according to claim 1, wherein the robot is provided with a laser radar, an infrared ranging sensor and a vision sensor.